Yaskawa MP2200 Machine Controller - Manual (Page 247)

5.2 Motion Command Details
5-17
( 2 ) Zero Point Return Operation and Parameters
This section explains the operation that occurs after starting a zero point return and the parameters
that need to be set before executing the command.
[ a ] DEC1 + C-Phase Method (OW††3C = 0)
Travel is started at the zero point return speed in the direction specified in the parameters. When the
rising edge of the DEC1 signal is detected, the speed is reduced to the approach speed. When the first
phase-C pulse is detected after passing the DEC1 signal, the speed is reduced to the creep speed and
positioning is performed. When positioning has been completed, a machine coordinate system is
established with the final position as the zero point.
The moving amount after the phase-C pulse is detected is set in the Home Offset. If an OT signal is
detected during the zero point return operation, an OT alarm will occur.
* 1. SVB-01: SERVOPACK DEC signal, SVA-01: DI_5 or OW††05, bit 8 signal
* 2. The SERVOPACK P-OT signal.
* 3. The SERVOPACK N-OT signal.
DEC1 signal ∗1
NOT ∗3
POT ∗2
Start Zero Point
Creep Speed
(OL 40)
Home Offset
(OL 42)
Phase-C pulse
Approach Speed
(OL 3E)
Zero Point Return Speed
(OL 10)
Parameter Name Setting
OW††3C Home Return Type 0: DEC1 + C-Phase
OB††093 Home Direction Set the zero point return direction.
OL††10 Speed Reference
Set the speed to use when starting a zero point return. Only a positive
value can be set; a negative value will result in an error.
OL††18 Speed Override
This parameter allows the Zero Point Return speed to be changed without
changing the Speed Reference (OL††10). Set the speed as a percentage
of the Speed Reference Setting. This setting can be changed during
operation.
Setting range: 0 to 32767 (0% to 327.67%) Setting unit: 1 = 0.01%
Example: Setting for 50%: 5000
OL††3E Approach Speed
Set the speed to use after detecting the DEC1 signal. Only a positive
value can be set; a negative value will result in an error.
OL††40 Creep Speed
Set the speed to use after detecting the first phase-C pulse after passing
the DEC1 signal. Only a positive value can be set; a negative value will
result in an error.
OL††42 Home Offset
Set the travel distance from the point where the first phase-C pulse is
detected after passing the DEC1 signal. If the sign is positive, travel will
be toward the zero point return direction; if the sign is negative, travel
will be away from the zero point return direction.